Semi-decentralized nonlinear cooperative control strategies for a network of heterogeneous autonomous underwater vehicles

2016 ◽  
Vol 27 (16) ◽  
pp. 2688-2707 ◽  
Author(s):  
Maria Enayat ◽  
Khashayar Khorasani
Keyword(s):  
Cooperative Control ◽  
Control Strategies ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles

scholarly journals Active Fault Localization of Actuators on Torpedo-Shaped Autonomous Underwater Vehicles

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 476
Author(s):  
Fuqiang Liu ◽  
Yan Long ◽  
Jun Luo ◽  
Huayan Pu ◽  
Chaoqun Duan ◽  
...  
Keyword(s):  
Attitude Control ◽  
Fault Location ◽  
Control Strategies ◽  
Autonomous Underwater Vehicles ◽  
Fault Localization ◽  
Underwater Vehicles ◽  
Element Analysis ◽  
Fault Features ◽  
Fault Parameters ◽  
Actuator Control

To ensure the mission implementation of Autonomous Underwater Vehicles (AUVs), faults occurring on actuators should be detected and located promptly; therefore, reliable control strategies and inputs can be effectively provided. In this paper, faults occurring on the propulsion and attitude control systems of a torpedo-shaped AUV are analyzed and located while fault features may induce confusions for conventional fault localization (FL). Selective features of defined fault parameters are assorted as necessary conditions against different faulty actuators and synthesized in a fault tree subsequently to state the sufficiency towards possible abnormal parts. By matching fault features with those of estimated fault parameters, suspected faulty sections are located. Thereafter, active FL strategies that analyze the related fault parameters after executing purposive actuator control are proposed to provide precise fault location. Moreover, the generality of the proposed methods is analyzed to support extensive implementations. Simulations based on finite element analysis against a torpedo-shaped AUV with actuator faults are carried out to illustrate the effectiveness of the proposed methods.

Thruster Interactions on Autonomous Underwater Vehicles

2009 ◽  
Author(s):  
Alistair R. Palmer ◽  
Grant E. Hearn ◽  
Peter Stevenson
Keyword(s):  
Hydrodynamic Interaction ◽  
Control Strategies ◽  
Dynamic Performance ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Interaction Effects ◽  
Dynamic Positioning ◽  
Surface Vessels ◽  
Control Devices ◽  
And Control

Autonomous underwater vehicles are a developing technology capable of undertaking a wide variety of different tasks. The development of these vehicles is aided by the use of simulations of their performance. These simulations require accurate modelling of the propulsion and control devices employed to calculate the response of a vehicle to different situations and control strategies. Simulations of underwater vehicles tend to include models of the dynamic performance of the thrusters employed, however, the simulations neglect some of the hydrodynamic interaction effects. These interaction effects include thruster–hull and thruster–thruster interactions similar to those encountered on dynamic positioning surface vessels. This paper assesses these effects for autonomous underwater vehicles and, where appropriate, suggests models for use in simulations.

Model-Based Control and Stability Analysis of Underactuated Autonomous Underwater Vehicles Via Singular Perturbations

2020 ◽  
Vol 15 (6) ◽  
Author(s):  
Ming Lei ◽  
Ye Li
Keyword(s):  
Stability Analysis ◽  
Time Scale ◽  
Control Strategies ◽  
Autonomous Underwater Vehicles ◽  
Path Following ◽  
Underwater Vehicles ◽  
Time Scale Separation ◽  
Independent Analysis ◽  
Effective Performance ◽  
Analysis Of Dynamics

Abstract This paper presents the control design and stability analysis for path-following of underactuated autonomous underwater vehicles (AUVs), with dynamics restricted to the horizontal plane. As illustration, the time-scale separation caused by different rates of numerous variables is exploited via a singular perturbation model formulation. On the basis of that, a time-scale decomposition method is used to decompose the full system into three-time scale subsystems. The three-time scale structure allows independent analysis of dynamics in each time scale. Therefore, control strategies are designed in each subsystem separately, leading to a reduction of control complexity and a relatively simple control law. This paper also demonstrates the asymptotic stability of the closed-loop system with a composite Lyapunov function candidate and provides alternative, simple but generic mathematical bounds on the singularly perturbed parameters. Finally, the simulation results are presented to illustrate the effective performance of proposed controller.

Cooperative Control of Multiple Autonomous Underwater Vehicles

2013 ◽  
Vol 365-366 ◽  
pp. 905-912
Author(s):  
Bin He ◽  
Da Peng Jiang
Keyword(s):  
Information Exchange ◽  
Cooperative Control ◽  
Distributed Simulation ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Programming Algorithm ◽  
Simulation Environment ◽  
Efficient Communication ◽  
Behavior Based Control ◽  
Behavior Based

The focus of research of AUV is gradually moving towards multiple autonomous underwater vehicles (MAUV) in recent years. This paper describes an investigation into cooperative control of MAUV. Firstly, a distributed control architecture (MOOS) was applied to MAUV system. According to MOOS, functionalities of AUV were organized in a modular manner and a unified information exchange mechanism was used to ensure an efficient communication between different modules. Secondly, a behavior based control strategy was proposed to enable the AUV to cooperate with each other intelligently and adaptively. Interval programming algorithm was applied to make sure that behaviors of each AUV can be coordinated in a timely and optimal manner. Stability of behavior-based control of AUV was analyzed. Finally, a distributed simulation environment was established and a series of simulation were carried out to verify the feasibility of methods mentioned above.

Finite-Time Formation Control for Autonomous Underwater Vehicles with Limited Speed and Communication Range

2014 ◽  
Vol 511-512 ◽  
pp. 909-912
Author(s):  
Jian Yuan ◽  
Feng Li Zhang ◽  
Zhong Hai Zhou
Keyword(s):  
Control Problem ◽  
Control Strategy ◽  
Finite Time ◽  
Cooperative Control ◽  
Formation Control ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Communication Range ◽  
Control Framework ◽  
Multi Robot

Cooperative control of multiple autonomous underwater vehicles (AUVs) plays an important role on marine scientific investigation and marine development. The formation of multi-AUV can significantly enhance applications on the marine sampling, imaging, surveillance and communications. Compared to the formation control of multi-robot, the formation control of multi-AUV is particularly difficult, especially on controlling attitude and direction of AUV; what is more, the communication method among AUVs is acoustic. When communication distance increases, the communication qualities deteriorate quickly; this mainly makes time-delay, signal attenuation and distortion. Although formation control of multiple AUVs obtains a wide range of attention in recent years, the fruits on formation control problem are less than ones on land multi-robot problems. For example, Fiorelli conducted a collaborative and adaptive sampling research of multi-AUV at the Monterey Bay [; Yu and Ura carried out the cable-based modular fast-moving and obstacle-avoidance experiments, and presented an interconnected multi-AUV system with three-dimension sensors. On the aspect of formation control framework [2-, [ proposed a four-layer cooperative control strategy based on hierarchical structure; [ proposed a hierarchical control framework based on hybrid model. In addition, Yang converted a nonholonomic system to a chain one and designed a controller to implement a leader-follower formation for multiple AUVs in [. The formation control for multiple autonomous underwater vehicles is rather different than the control methods for other vehicles, because the formation control for AUVs is of its characteristics, such as the large-scale distribution in space. The finite-time consensus controller designing based on finite-time control and consensus problem has important theoretical and practical significance. The decentralized controller methods for the autonomous underwater vehicle are applied more and more, but they ignore the coupling relationship between them. Another method is that an AUV is modeling as an agent, but this method ignores attitude characteristics of AUVs (pitch, roll and yaw). In this paper, we consider the cooperative control problem in three dimensional spaces. Finite-time formation for Autonomous Underwater Vehicles (AUVs) with constraints on communication range is investigated. We proposed a two-layer finite-time consensus control law, to avoid leading to collapse on formation because of failure leader, all AUVs are arrayed in the same level and each AUV can obtain global formation information. Finally, the simulation results show the effectiveness of the control strategy.

Multiple Autonomous Underwater Crawler Control for Mine Reacquisition

2005 ◽  
Author(s):  
Douglas M. Welling ◽  
Dean B. Edwards
Keyword(s):  
Fuzzy Logic ◽  
Control Strategies ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Motion Controller ◽  
Scheduling System ◽  
Additional Information ◽  
Baseline System ◽  
Target Strategy ◽  
Mine Countermeasures

Autonomous Underwater Vehicles (AUVs) are currently being used by the Navy for mine countermeasures. AUVs include both submarine and tracked crawlers. Recent search strategies have been implemented using both submarines and crawlers; submarines to sweep large areas to detect possible mines, and crawler to re-acquire the possible mines and perform classification. The primary scope of this paper is the control strategies for the crawlers to best cover an area. Both a motion controller and a mine reacquisition scheduling system were developed. Simulations were performed using Autonomous Littoral Warfare Systems Evaluator - Monte Carlo (ALWSEMC) to complete studies on optimal crawler control strategies. These simulations included 1 submarine and 3 crawlers. Two reacquisition scheduling systems were compared, one using a closest target strategy, and one using fuzzy logic that used additional information available to the crawler to best utilize time and resources. It was found that a fuzzy logic scheduling system outperformed the baseline system by reducing the amount of time to reacquire all targets.

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